CN108582141A - Hydraulic driving software manipulator - Google Patents
Hydraulic driving software manipulator Download PDFInfo
- Publication number
- CN108582141A CN108582141A CN201810101230.5A CN201810101230A CN108582141A CN 108582141 A CN108582141 A CN 108582141A CN 201810101230 A CN201810101230 A CN 201810101230A CN 108582141 A CN108582141 A CN 108582141A
- Authority
- CN
- China
- Prior art keywords
- sucker
- bellows
- cavity
- silica gel
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
Abstract
The invention discloses a kind of hydraulic driving software manipulators.The present invention is divided into bellows-like structure and sucker structure, bellows-like structure interior design has the first cavity, sucker structure is designed with the second cavity, first cavity is connect by water pump with the second cavity, second cavity is connected to each sucker, bellows-like structure is close together with sucker structure, and wherein the corrugated portion in bellows-like structure is opposite with the suction cup portion in sucker structure, and the bellows-like structure and sucker structure are made of silica gel.The present invention is based on the software manipulators of silica gel, possess good structural behaviour, and manipulator integral hardness is higher, can bear higher internal pressure, possesses stronger carrying load ability, and self-feedback control can be realized using special structure.
Description
Technical field
The present invention relates to a kind of software manipulator, specifically a kind of hydraulic driving software manipulator.
Background technology
With the development of industrial automation and mechanization, the machinery dress of the aperies hand such as traditional Rigid Manipulators and Dextrous Hand
Among setting the social life and production for being widely used in the mankind, the heavy labor of people has largely been liberated.Tradition
Rigid Manipulators are structural suitable for industry spot, repeat, relatively hazardous work, and towards high position precision, Gao Ling
The directions such as activity and high response speed are developed；Dextrous Hand is mainly reflected in more degree of freedom and accurate dynamics position
It is very to the control with more multivariant rigid Dextrous Hand to ensure to be grabbed the safety of object and complete in control
Complicated.With social continuous development and progress, people have manipulator new requirement in more new fields, such as
The operative scenarios such as lossless capture and underwater salvage to ocean software biology.Under water in application scenarios due to environment rigidity compared with
Antirust waterproofing protection that is low and being related to manipulator, traditional Rigid Manipulators are difficult to match with environment rigidity, therefore difficult
To realize the job requirement of above-mentioned operative scenario.And Dextrous Hand want to realize this generic operation need higher hardware cost with very
Complicated control system, and need to do strict protection to whole system, it is unfavorable for promoting and applying.
Has certain research and application for being directed to software manipulator at present, mainly for grabbing in breakables such as food
It takes.There is a big chunk to use the direct 3D printing of TPU materials in existing software manipulator to be made, case hardness is higher,
It is difficult to capture surface smooth object, and is easy to treat crawl article and causes to damage, not proper software machinery
Hand；The software manipulator of another part uses all kinds of silica gel injection moldings, inside the limited pressure that can bear and bringing onto load energy
Power is relatively low.Therefore, existing software manipulator is limited to the structural behaviour of itself, is not widely applied.And present
Software manipulator mostly uses pneumatically, it is difficult to adapt to underwater working environment.
Invention content
In view of the deficiencies of the prior art, the present invention provides a kind of hydraulic driving software manipulators.
The technical solution adopted for solving the technical problem of the present invention is：
The present invention is divided into bellows-like structure and sucker structure, and bellows-like structure interior design has the first cavity, sucker structure
It is designed with the second cavity, the first cavity is connect by water pump with the second cavity, and the second cavity is connected to each sucker, corrugated tube shape
Structure is close together with sucker structure, wherein the sucking disk part split-phase in the corrugated portion and sucker structure in bellows-like structure
The back of the body, the bellows-like structure and sucker structure are made of silica gel.
Furtherly, the combination that bellows-like structure is close together with sucker structure is using concave-convex stepwise manner.
Compared with the background technology, the present invention, it has the advantages that：
One, the higher silica gel of hardness has been selected in casting process, devises step-like structure in finger abutting edge to promote hand
The adhesive strength of finger, it is ensured that finger can at least bear the internal pressure of 200kpa, and bending angle is up to 180 °, in 150kpa
Internal pressure under sustainable operation.
Two, due to selecting silica gel hardness higher good with structural behaviour, this software manipulator can bear higher inside
Also possess higher carrying load ability while pressure, load capacity is in 500g or more when single finger is bent at 90 °.
Three, several vacuum cups are designed in the side of this software manipulator, can effectively promote adsorption capacity, are enhanced to light
The Grasping skill of sliding object.
Four, the cavity of suction cup portion is connected with the cavity of corrugated tube shape, is drawn water from sucker cavity with water pump and is pressed into bellows
Shape part.When sucker has been adsorbed on when capturing article surface, water pump can stop to bellow shaped part water-filling, and finger will stop
Only continue to be bent, realizes self feed back control.
Five, take hydraulic drives, driving medium is easy to obtain in working environment under water, and environment will not be caused dirty
Dye.
Description of the drawings
The specific implementation mode of the present invention is described in further detail below in conjunction with the accompanying drawings.
Fig. 1, Fig. 2 are the structural schematic diagrams of hydraulic driving software manipulator in the present invention.
In Fig. 2：1, water inlet, 2, finger bellow shaped part, 3, water pump, 4, water outlet, 5, finger suction cup portion.
Fig. 3 is the flow diagram of hydraulic driving software manipulator production method in the present invention.
Specific implementation mode
Below in conjunction with attached drawing, the invention will be further described.
As depicted in figs. 1 and 2, this software manipulator use split-type design scheme, including finger bellow shaped part 1,
Finger suction cup portion 2 is inhaled finger bellow shaped part and finger using the Sil-Poxy silica gel bonding agent of SMOOTH-ON companies
Disc portion does leakproofness bonding, makes this software manipulator and is also made of the technique of split type cast, silica gel uses SMOOTH-
30 series of products of Dragon Skin of ON companies.After being processed into two parts respectively, using silica gel bonding agent by two parts
It is bonded together.
This software manipulator has the cavity of respective shapes in its bellows-like structure interior design；In the sucker structure of the other side
Portion is designed with cavity and is connected to each sucker, and water pump 3 is separately connected water inlet 1 and water outlet 5, water inlet 1 and sucker structure
Cavity unicom；Water outlet 5 and the cavity unicom inside bellows-like structure.When software robot work, water pump is from sucking disk part
Divide to draw water and be pressed into bellow shaped part.
The performance of software manipulator also relies on the quality of silica gel curing molding other than by self structure.In reality
During making software manipulator, by the promotion constantly to the improvement of casting mold and finger manufacture craft, one has been formulated
Complete manufacture craft is covered, the processing quality of software manipulator is ensure that, includes the following steps：
Step 1：Mold prepares：
A. photosensitive resin material 3D printing is utilized to generate mold：Mold is modeled using 3 dimension modeling softwares and generates STL texts
Part will carry out slicing treatment in stl file import slices software, and the printing of mold is carried out using SLA Stereolithography 3D printings；
B. releasing agent is sprayed in mould inner surface：By releasing agent even application Split type die inner surface, and stand 15 points
Clock.
Step 2：Silica gel is mixed：
A. the silica gel of two kinds of components of A, B is pressed 1:1 ratio mixes：By 1:1 ratio respectively takes the silicon of two kinds of components of A, B
Glue 40g is added in plastic test tube and carries out hand operated mixing；
B. mixed silica gel is fitted into progress high speed centrifugation stirring in centrifuge, it is made to be uniformly mixed.
Step 3：Silica gel casting：
It a. will be in uniformly mixed silica gel injection mold；
B. mold is put into vacuum tank and carries out vacuumizing bubble removing：It is vacuumized using air compressor machine and keeps vacuum degree-
0.09MPa15 minutes, the bubble in silica gel is made all to escape；
C. the mold after bubble removing is stood, waits for silica gel curing molding therein：20 are stood in the environment of 20 degrees Celsius of room temperature
Hour, silica gel can curing molding；
D. two parts of split type finger are bonded together using dedicated silica gel bonding agent：By SMOOTH-ON companies
Sil-Poxy silica gel bonding agent is applied to the bonding junction of finger bellow shaped part 1 and finger suction cup portion 2 respectively, and will
Finger two parts are pressed together, and bonding can be completed in standing half an hour.
As a further improvement on the present invention：The higher silica gel of hardness is selected to carry out the making of software manipulator.
As a further improvement on the present invention：In software manipulator interior design step-like structure, two parts are increased
Bond area.
As a further improvement on the present invention：The geomery for improving sucker improves the adsorption energy of software manipulator
Power.
The operation principle of the hydraulic drives software manipulator of the present invention is as follows：
When this software manipulator is started to work, water pump draws water from sucker side and is pressed into bellow shaped part, due to software machine
The internal surface areas of tool hand both sides is different, possesses bellows-like structure and is easier to extend on one side, therefore manipulator is to sucker lateral bending
Song, and sucker is pressed in article surface to be captured.When sucker is adsorbed on completely when capturing article surface, suction cup interior generates true
Sky, water pump will stop continuing to bellow shaped part water-filling, and stopping is continued to be bent by software manipulator, and software manipulator has been at this time
It completes the grasping movement to article and ensures that sucker is firmly adsorbed on article to be captured.Utilize the two-chamber road of this subsidiary sucker
The self feed back control, it can be achieved that software manipulator is designed, the complexity of whole system is greatlied simplify, effectively increases software
The reliability of manipulator.
To sum up, the present invention is based on the software manipulator of silica gel, possess good structural behaviour, manipulator integral hardness compared with
Height can bear higher internal pressure, possess stronger carrying load ability, and self-feedback control can be realized using special structure
System, while possessing wider crawl size range, carry out operation in alternative artificial environment under water.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited merely to above-mentioned implementation
Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art
Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (2)
1. hydraulic driving software manipulator, is divided into bellows-like structure and sucker structure, it is characterised in that：Bellows-like structure
Interior design has the first cavity, sucker structure to be designed with the second cavity, and the first cavity is connect by water pump with the second cavity, and second
Cavity is connected to each sucker, and bellows-like structure is close together with sucker structure, wherein the ripple in bellows-like structure
Part is opposite with the suction cup portion in sucker structure, and the bellows-like structure and sucker structure is made of silica gel.
2. hydraulic driving software manipulator according to claim 1, it is characterised in that：Bellows-like structure and sucker knot
The combination that structure is close together is using concave-convex stepwise manner.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810101230.5A CN108582141A (en) | 2018-02-01 | 2018-02-01 | Hydraulic driving software manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810101230.5A CN108582141A (en) | 2018-02-01 | 2018-02-01 | Hydraulic driving software manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108582141A true CN108582141A (en) | 2018-09-28 |
Family
ID=63608521
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810101230.5A Pending CN108582141A (en) | 2018-02-01 | 2018-02-01 | Hydraulic driving software manipulator |
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| CN (1) | CN108582141A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| US6994387B1 (en) * | 2001-08-09 | 2006-02-07 | Gary Dean Ragner | Torus-shaped conveyer and gripper |
| CN103057023A (en) * | 2013-01-21 | 2013-04-24 | 中国科学技术大学 | Improvement method for centrifugal casting silicon tube |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| JP2016002611A (en) * | 2014-06-16 | 2016-01-12 | 富士電機株式会社 | hand |
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
| CN208005706U (en) * | 2018-02-01 | 2018-10-26 | 浙江大学 | A kind of hydraulic driving software manipulator |
-
2018
- 2018-02-01 CN CN201810101230.5A patent/CN108582141A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1365311A (en) * | 2000-03-28 | 2002-08-21 | 精工爱普生株式会社 | Pump-integrated flexible actuator |
| US6994387B1 (en) * | 2001-08-09 | 2006-02-07 | Gary Dean Ragner | Torus-shaped conveyer and gripper |
| CN103057023A (en) * | 2013-01-21 | 2013-04-24 | 中国科学技术大学 | Improvement method for centrifugal casting silicon tube |
| CN103753524A (en) * | 2013-12-16 | 2014-04-30 | 北京化工大学 | Octopus tentacle imitating adaptive capture soft manipulator and capture method thereof |
| JP2016002611A (en) * | 2014-06-16 | 2016-01-12 | 富士電機株式会社 | hand |
| CN105965533A (en) * | 2016-06-17 | 2016-09-28 | 重庆科技学院 | Combined type pneumatic flexible finger |
| CN106003131A (en) * | 2016-07-01 | 2016-10-12 | 北京软体机器人科技有限公司 | Double-passage soft finger and soft robot |
| CN107234627A (en) * | 2017-03-24 | 2017-10-10 | 北京航空航天大学 | A kind of soft adsorption winds grasping device |
| CN208005706U (en) * | 2018-02-01 | 2018-10-26 | 浙江大学 | A kind of hydraulic driving software manipulator |
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